ergoCubEmotions module - stint 2

.github/workflows/ci.yml

@@ -0,0 +1,79 @@
+name: C++ CI Workflow with conda dependencies
+
+on:
+  push:
+    paths:
+      - 'src/**'
+  pull_request:
+    paths:
+      - 'src/**'
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC
+  - cron:  '0 2 * * *'
+
+jobs: 
+  build:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, windows-2019, macos-latest]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        mamba-version: "*"
+        channels: conda-forge,robotology
+        channel-priority: true
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
+        conda config --remove channels defaults
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install ycm-cmake-modules yarp opencv 
+
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCOMPILE_ergoCubEmotions:BOOL=ON ..
+
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCOMPILE_ergoCubEmotions:BOOL=ON ..
+
+    - name: Build
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Install
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }} --target install
+
+
+
+
+
+
+

CMakeLists.txt

@@ -21,6 +21,7 @@ include(AddUninstallTarget)
 option(ERGOCUB_MODEL_GENERATE_SIMMECHANICS "Generate models using the model generation pipeline from simmechanics" OFF)
 option(ERGOCUB_MODEL_COPY_TO_SRC "Copy to sources the generated urdf files" OFF)
 option(BUILD_TESTING "Run tests for the generated models" OFF)
+option(COMPILE_ergoCubEmotions "Compile the module controlling the ergoCub emotions" OFF)
 
 set(BUILD_PREFIX "ergoCub")
 add_subdirectory(urdf)
@@ -31,3 +32,9 @@ if (BUILD_TESTING)
   enable_testing()
   add_subdirectory(tests)
 endif()
+
+if(COMPILE_ergoCubEmotions)
+  add_subdirectory(src)
+endif() 
+
+

src/modules/ergoCubEmotions/CMakeLists.txt

@@ -10,15 +10,23 @@ cmake_minimum_required(VERSION 3.12)
 
 find_package(YARP 3.7.2 REQUIRED)
 find_package(OpenCV 4.5.4 REQUIRED)
-add_executable(${PROJECT_NAME})
-target_sources(${PROJECT_NAME} PUBLIC ergoCubEmotions.cpp ergoCubEmotions.h main.cpp)
 
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/images DESTINATION ${CMAKE_BINARY_DIR})
+set(doc_files ${PROJECT_NAME}.xml)
+yarp_add_idl(IDL_GEN_FILES idl.thrift)
+
+source_group("IDL Files" FILES idl.thrift)
+source_group("DOC Files" FILES ${doc_files})
+add_executable(${PROJECT_NAME} ergoCubEmotions.cpp ergoCubEmotions.h main.cpp idl.thrift ${IDL_GEN_FILES} ${doc_files})
+
+yarp_install(FILES config.ini DESTINATION ${YARP_CONTEXTS_INSTALL_DIR}/${PROJECT_NAME})
+yarp_install(DIRECTORY expressions DESTINATION ${YARP_CONTEXTS_INSTALL_DIR}/${PROJECT_NAME})
 
 # Link the application with YARP and OpenCV libraries
 target_link_libraries(${PROJECT_NAME} YARP::YARP_os
                                       YARP::YARP_dev
                                       YARP::YARP_init
+                                      YARP::YARP_conf
                                       opencv_core
-                                      opencv_highgui)
+                                      opencv_highgui
+                                      opencv_videoio)
 install(TARGETS ${PROJECT_NAME} DESTINATION bin)

src/modules/ergoCubEmotions/config.ini

@@ -0,0 +1,22 @@
+[general]
+num_expressions 4
+
+[expression_0]
+name angry
+type image
+file /expressions/images/exp_img_0.png
+
+[expression_1]
+name happy
+type image
+file /expressions/images/exp_img_1.png
+
+[expression_2]
+name neutral
+type image
+file /expressions/images/exp_img_2.png
+
+[expression_3]
+name shy
+type image
+file /expressions/images/exp_img_3.png

src/modules/ergoCubEmotions/ergoCubEmotions.cpp

@@ -5,16 +5,18 @@
  *                                                                            *
  ******************************************************************************/
 
-#include <yarp/os/ResourceFinder.h>
 #include <yarp/os/LogStream.h>
+#include <yarp/os/Network.h>
 #include <yarp/os/Bottle.h>
-#include "ergoCubEmotions.h"
 
-#include <opencv2/highgui.hpp>
 #include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/videoio.hpp>
+
+#include "ergoCubEmotions.h"
 
-using namespace cv;
 using namespace yarp::os;
+using namespace cv;
 
 ErgoCubEmotions::ErgoCubEmotions()
 {
@@ -24,23 +26,50 @@ ErgoCubEmotions::~ErgoCubEmotions()
 {
 }
 
-bool ErgoCubEmotions::configure(ResourceFinder& config)
+bool ErgoCubEmotions::attach(RpcServer& source)
 {
-    auto ret = rpcPort.open("/ergoCubEmotions/rpc");
-    attach(rpcPort);
+    return yarp().attachAsServer(source);
+}
 
-    // set window properties
-    namedWindow("emotion", WINDOW_FULLSCREEN);
-    Mat start_img = imread("images/neu.png");
-    imshow("emotion", start_img);
-    waitKey(0);
+bool ErgoCubEmotions::configure(ResourceFinder& rf)
+{
+    cmdPort.open("/ergoCubEmotions/rpc");
+    attach(cmdPort);
+
+    path = rf.getHomeContextPath();
+    Bottle &bGroup = rf.findGroup("general");
+    nexpressions = bGroup.find("num_expressions").asInt32();
+    for (int i = 0; i < nexpressions; i++)
+    {
+        std::ostringstream expression_i;
+        expression_i << "expression_" << i;
+        Bottle &bExpression = rf.findGroup(expression_i.str());
+        std::string name = bExpression.find("name").asString();
+        std::string type = bExpression.find("type").asString();
+        std::string file = bExpression.find("file").asString();
+
+        std::pair<std::string, std::string> par = std::make_pair(name, type);
+        img_map[par] = file;
+    }
 
-    return ret;
+    namedWindow("emotion", WND_PROP_FULLSCREEN);
+    setWindowProperty("emotion", WND_PROP_FULLSCREEN, WINDOW_FULLSCREEN);
+    Mat start_img = imread(path + "/expressions/images/exp_img_2.png");
+    if(start_img.empty())
+    {
+        yDebug() << "Could not read the image!";
+    }
+
+    imshow("emotion", start_img);
+    waitKey(1000);
+
+    return true;
 }
 
 bool ErgoCubEmotions::close()
 {
-    rpcPort.close();
+    cmdPort.close();
+    destroyAllWindows();
     return true;
 }
 
@@ -54,93 +83,41 @@ bool ErgoCubEmotions::updateModule()
     return true;
 }
 
-bool ErgoCubEmotions::respond(const Bottle &cmd, Bottle &reply)
-{
-    if(cmd.size() < 2)
-    {
-        yError() << "Invalid command size: it must be 2";
-        return false;
-    }
-
-    switch (cmd.get(0).asVocab32())
+bool ErgoCubEmotions::setEmotion(const std::string& command)
+{    
+    std::lock_guard<std::mutex> lg(mtx);
+    for(auto it = img_map.cbegin(); it!= img_map.cend(); it++)
     {
-        case EMOTION_VOCAB_HELP:
-        {
-            // implement
-        }
-
-        case EMOTION_VOCAB_SET:
-        {
-            reply.clear();
-
-            bool ok = false;
-            switch (cmd.get(1).asVocab32())
-            { 
-                // it could be possible to create an array of vocabs and iterate over it
-                case EMOTION_VOCAB_ANGRY:
-                {
-                    ok = getCommand(cmd.get(1).toString());
-                    break;
-                }
-                case EMOTION_VOCAB_CUN:
-                {
-                    ok = getCommand(cmd.get(1).toString());
-                    break;
-                }
-                case EMOTION_VOCAB_EVIL:
-                {
-                    ok = getCommand(cmd.get(1).toString());
-                    break;
-                }
-                case EMOTION_VOCAB_HAPPY:
-                {                  
-                    ok = getCommand(cmd.get(1).toString());
-                    break;
-                }
-                case EMOTION_VOCAB_NEUTRAL:
-                {
-                    ok = getCommand(cmd.get(1).toString());
-                    break;
-                }
-                case EMOTION_VOCAB_SAD:
-                {
-                    ok = getCommand(cmd.get(1).toString());
-                    break;
-                }
-                case EMOTION_VOCAB_SHY:
-                {
-                    ok = getCommand(cmd.get(1).toString());
-                    break;
-                }
-                case EMOTION_VOCAB_SURPRISED:
+        if(it->first.first == command)
+        {    
+            if(it->first.second == "image")
+            {
+                Mat img = imread(path + it->second);
+                if(img.empty())
                 {
-                    ok = getCommand(cmd.get(1).toString());
-                    break;
-                }
-                default:
-                {   
-                    yDebug() << "Command not recognized!";
-                    break;
+                    yDebug() << "Could not read the image!";
                 }
+
+                imshow("emotion", img);
+                pollKey();
             }
 
-            reply.addVocab32(EMOTION_VOCAB_OK);
+            else if(it->first.second == "video")
+            {
+                // VideoCapture cap("images/video.mp4");
+                // while(1)
+                // {
+                //     Mat frame;
+                //     cap >> frame;
+                //     imshow("emotion", frame);
+                //     char c=(char)waitKey(25);
+                //     if(c==27)
+                //         break;
+                // }
+                // cap.release();
+            }
         }
     }
-    return true;
-}
-
-bool ErgoCubEmotions::getCommand(const std::string command)
-{
-    Mat image = imread("images/" + command + ".png");
-
-    if(image.empty())
-    {
-        yDebug() << "Could not read the image!";
-    }
-
-    imshow("emotion", image);
-    waitKey(0);
 
     return true;
 }